Trajectory generation in groping locomotion of a 21-DOF humanoid robot
Trajectory generation in groping locomotion of a 21-DOF humanoid robot
复制标题
21 自由度仿人机器人摸索运动的轨迹生成
DOI：
--
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Ohka
中科院分区：
文献类型：
--
作者：
H. Yussof;M. Yamano;Y. Nasu;M. Ohka
由于仿人机器人运动学和动力学的复杂性，其关节轨迹的制定和优化与标准机器人有很大的不同。本文提出了一种求解21自由度仿人机器人运动学问题的方法，并利用该方法生成仿人机器人的轨迹。摸索运动方法包括一个基本的自主交互方法，用于仿人机器人进行物理交互并对其周围条件做出响应。本文详细解释了运动学公式中应用的算法的摸索运动法。使用动画和实验，利用Bonten-Maru II人形机器人的关节轨迹进行分析，结果显示所提出的算法在产生机器人的手臂和腿的平滑运动的良好性能。
The formulation and optimization of joint trajectories for a humanoid robot’s manipulator is quite different from standard robots’ because of the complexity of its kinematics and dynamics. This paper presents a formulation to solve kinematics problems to generate trajectory for a 21-DOF humanoid robot in the groping-locomotion method. The groping-locomotion method includes a basic autonomous interaction method for biped humanoid robots to physically interact and responds to its surrounding conditions. This paper explains in detail kinematics formulations applied within the algorithm of the groping-locomotion method. Analysis of the joint trajectories using animation and experiments utilizing the Bonten-Maru II humanoid robot were conducted, with results showing good performance of the proposed algorithm in generating smooth movement of the robot’s arms and legs.